Aye, but there is, if the decals are ontop of the clearcoat. This of course does nothing for stuff under the paint but...
On Home Depo there is a pretty yello-orange liquid (smells great too) called Goo-Gone!, buy a bottle and liberally slop it onto a rag, wrap the rag around the frame where the decal is, pour on more googone so it's almost dripping, and then wrap the whole setup with plastic wrap, solid sheet, no seams on the downwards edge, to keep it wet...walk off and do something else for 24 hours. When you come back the decal should come off cleanly, leaving a solid sheet of glue on the bike. The glue should also come off in one stretched, soggy, violated, nasty mess, leaving a perfectly clean and perfect tube underneath.
I've never seen googone pull off paint of any type, but it's miraculous with adhesives.